Antenna Azimuthal Position Control Using Model Predictive Control

Ahlawat, Harsh Deep; Prasad, M P R; Chauhan, R. P.

doi:10.1109/icecct.2019.8869043

Cited by 3 publications

(6 citation statements)

References 13 publications

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“…As shown in Fig. 1, the 2-dof parallel robotic antenna pedestal structure includes a rotatable platform (7), which is connected to the intermediate column (8) through a rotating pair (5). There is a revolute joint between the intermediate column and the base for turnover movement.…”

Section: System Description Of the Parallel Robotic Antenna Pedestalmentioning

confidence: 99%

“…According to the geometric symmetry relationship of the 2-dof parallel antenna pedestal, the velocity relation between antenna platform attitude and driving sliders and can be further obtained from Eqs. (10) to (11) as follows [5]. where J is the Jacobian matrix.…”

Section: Kinematic Modelmentioning

confidence: 99%

“…Romsai uses the LFICus algorithm to tune the parameters of PID position controller of antenna pedestal, compared with PID controller with Ziegler-Nichols tuning, ROMSAI has better control effect [6]. Nupoor uses PID and LQG control algorithms to analyze the performance of the antenna position control system [7], and Ahlawat designs the controller based on MPC algorithm [5]. Hancioglu uses the FLC controller to control the antenna azimuth movement, and compared with PID controller, the control effect has improved.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Kinematic modeling and motion control of a parallel robotic antenna pedestal

He,

Duan,

et al. 2023

Robotica

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This paper deals with kinematic modeling and motion control of a novel antenna pedestal based on parallel robotic mechanism. Its active joints are two sliders equipped with DC motors on a circular rail. The synchronous and asynchronous motions of the two sliders enable the antenna to rotate in azimuth and pitch. In order to solve the problem of trajectory deviation caused by nonlinear friction and other uncertain disturbances, the structure of the antenna is described at the beginning, and then, the kinematic model is established based on geometry method. Then, the fuzzy PI (FPI) control system is designed based on the position feedback of the driving slider to realize the trajectory tracking of the desired curve. Finally, the parameters of the FPI controller are optimized and validated by Simulink simulation experiments. The tracking performance and the effectiveness of the control algorithm on prototype are verified by experiments of typical trajectory following control.

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Section: System Description Of the Parallel Robotic Antenna Pedestalmentioning

confidence: 99%

Section: Kinematic Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Kinematic modeling and motion control of a parallel robotic antenna pedestal

He,

Duan,

et al. 2023

Robotica

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show abstract

“…where A, B, C, and D are the state matrix, input matrix, output matrix, and direct transition matrix. Expressing (8) as in (12) and assuming zero initial conditions, the space equation for the system is as shown in ( 13) and ( 14):…”

Section: State Space Modelmentioning

confidence: 99%

“…Actually, different control strategies have been implemented to position dish antenna for satellite communication. A control system for realizing stable position of antenna in the presence of external disturbance was developed in [12]. The use of random data generated for antena control servo system has been done in [13].…”

Section: Introductionmentioning

confidence: 99%

Satellite dish antenna control for distributed mobile telemedicine nodes

Ekengwu

Eze

Asiegbu

et al. 2022

IJ-ICT

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<p align="justify"><span>The positioning control of a dish antenna mounted on distributed mobile telemedicine nodes (DMTNs) within Nigeria communicating via NigComSat-1R has been presented. It was desired to improve the transient and steady performance of satellite dish antenna and reduce the effect of delay during satellite communication. In order to overcome this, the equations describing the dynamics of the antenna positioning system were obtained and transformed into state space variable equations. A full state feedback controller was developed with forward path gain and an observer. The proposed controller was introduced into the closed loop of the dish antenna positioning control system. The system was subjected to unit step forcing function in MATLAB/Simulink simulation environment considering three different cases so as to obtain time domain parameters that characterized the transient and steady state response performances. The simulation results obtained revealed that the introduction of the full state feedback controller provided improved position tracking to unit step input with a rise time of 0.42 s, settling time of 1.22 s and overshoot of 4.91%. With the addition of observer, the rise time achieved was 0.39 s, settling time of 1.31 s, and overshoot of 10.7%. The time domain performance comparison of the proposed system with existing systems revealed its superiority over them.</span></p>

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Simulation and kinematic analysis of a 3-DOF marine antenna pedestal focusing on singularity avoidance and its effects on angular velocity and angular acceleration

GholamiOmali,

Alizadeh,

Sadedel

2024

Sci Rep

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The antenna pedestal in marine satellite communications uses three degrees of freedom, with an added degree to avoid singularity, which can increase joint angular velocity and acceleration. This study models the mechanism in SolidWorks, simulates it in Matlab, uses kinematic equations and the Denavit-Hartenberg method to propose a path that minimizes joint velocity and acceleration during tracking. The novelty of this study as a summary includes first identifying the required degree of freedom to address the redundancy issue and introducing an equation based on that degree of freedom considering the workspace far from singularity to add to the inverse kinematics equations of the mechanism. The second is finding the optimal value of the influential parameter for the mechanism to pass through the farthest range from the singularity when the end-effector passes 90 above the mechanism, the third is a trade-off between the effects of different variable values from the equation on the angular velocity of the joints and operating in the workspace far from the singularity, and finally, the fourth is finding the optimal value of the parameter from the introduced equation to simultaneously optimize the maximum angular acceleration of the joints and operating in the workspace far from the singularity.

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Antenna Azimuthal Position Control Using Model Predictive Control

Cited by 3 publications

References 13 publications

Kinematic modeling and motion control of a parallel robotic antenna pedestal

Kinematic modeling and motion control of a parallel robotic antenna pedestal

Satellite dish antenna control for distributed mobile telemedicine nodes

Simulation and kinematic analysis of a 3-DOF marine antenna pedestal focusing on singularity avoidance and its effects on angular velocity and angular acceleration

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